[Isaac Sim 6.0] Updates torch to 2.9.0+cu13 #4001

kellyguo11 · 2025-11-11T05:41:29Z

Description

Updates torch to 2.9.0, requiring cuda 13 and driver 580+

Type of change

New feature (non-breaking change which adds functionality)
Breaking change (existing functionality will not work without user modification)
Documentation update

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

greptile-apps · 2025-11-11T05:44:49Z

Greptile Overview

Greptile Summary

Updates PyTorch from 2.7.0+cu128 to 2.9.0+cu130 to align with Isaac Sim 6.0 requirements, unifying the torch version across all architectures (previously aarch64 used 2.9.0 while x86_64 used 2.7.0).

Critical Issues Found:

Multiple documentation files contain malformed PyTorch installation URLs (https://download.pytorch.org/whl30 instead of https://download.pytorch.org/whl/cu130)
These broken URLs appear in three key installation guides that users will follow
Installation scripts (isaaclab.sh, isaaclab.bat) and setup.py are correct

Impact:

Users following the manual installation documentation will encounter 404 errors when attempting to install PyTorch
Automated installation via scripts will work correctly
This creates a confusing user experience where documented commands fail but scripted installation succeeds

Confidence Score: 0/5

This PR cannot be merged - critical documentation errors will break installation for all users following manual setup guides
Multiple malformed URLs in documentation will cause immediate installation failures. The URLs are missing /cu130 and instead end with whl30, which will result in 404 errors when users attempt to install PyTorch following the documentation. While the installation scripts are correct, the documentation is a critical path for users and must be fixed before merge.
All three documentation files with malformed URLs must be fixed: docs/source/setup/installation/isaaclab_pip_installation.rst, docs/source/setup/installation/pip_installation.rst, and docs/source/setup/quickstart.rst

Important Files Changed

File Analysis

Filename	Score	Overview
docs/source/setup/installation/isaaclab_pip_installation.rst	0/5	Critical: malformed PyTorch URLs will cause installation failures, outdated version references
docs/source/setup/installation/pip_installation.rst	0/5	Critical: malformed PyTorch URLs across all platform tabs will break installations
docs/source/setup/quickstart.rst	0/5	Critical: malformed PyTorch URL in quickstart guide will fail for new users

Sequence Diagram

sequenceDiagram
    participant Dev as Developer
    participant PR as Pull Request #4001
    participant Docs as Documentation Files
    participant Scripts as Install Scripts
    participant Setup as setup.py
    participant User as End User

    Dev->>PR: Update PyTorch to 2.9.0+cu130
    PR->>Docs: Update installation.rst files
    Note over Docs: pip_installation.rst<br/>isaaclab_pip_installation.rst<br/>quickstart.rst<br/>newton installation.rst
    PR->>Scripts: Update isaaclab.sh & .bat
    Note over Scripts: Change CUDA tag cu128→cu130<br/>Change torch 2.7.0→2.9.0
    PR->>Setup: Update setup.py requirements
    Note over Setup: torch>=2.9<br/>PYTORCH_INDEX_URL cu130
    
    User->>Docs: Follow installation guide
    Docs-->>User: pip install torch==2.9.0 --index-url whl30
    Note over User,Docs: ❌ BROKEN: Missing /cu130<br/>404 Not Found Error
    
    User->>Scripts: Run isaaclab.sh --install
    Scripts->>User: ✓ Installs torch 2.9.0+cu130
    Note over User: Installation succeeds via script<br/>but fails via manual docs

greptile-apps

Additional Comments (3)

docs/source/setup/installation/isaaclab_pip_installation.rst, line 28 (link)

syntax: comment says CUDA 12.8 but should say CUDA 13.0 to match the cu130 version
docs/source/setup/installation/isaaclab_pip_installation.rst, line 66 (link)

syntax: outdated PyTorch version in comment - should be 2.9.0, not 2.7.0
docs/source/setup/installation/isaaclab_pip_installation.rst, line 73 (link)

syntax: outdated PyTorch version - should be 2.9.0, not 2.7.0

_{7 files reviewed, 8 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2025-11-11T05:44:45Z

docs/source/setup/installation/isaaclab_pip_installation.rst

   .. code-block:: none

-      pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+      pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:46Z

docs/source/setup/installation/pip_installation.rst

         .. code-block:: bash

-            pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:46Z

docs/source/setup/installation/pip_installation.rst

         .. code-block:: bash

-            pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:47Z

docs/source/setup/installation/pip_installation.rst

         .. code-block:: bash

-            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:48Z

docs/source/setup/quickstart.rst

   .. code-block:: bash

-      pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+      pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

ooctipus · 2025-11-13T00:47:31Z

scripts/reinforcement_learning/rsl_rl/train.py

 import torch
 from datetime import datetime

+from rsl_rl.runners import DistillationRunner, OnPolicyRunner


is this linter change?

Signed-off-by: Kelly Guo <[email protected]>

Removed redundant environment variable export for ISAACSIM_ACCEPT_EULA. Signed-off-by: Kelly Guo <[email protected]>

Added dependencies to resolve pip errors. Signed-off-by: Kelly Guo <[email protected]>

Signed-off-by: Kelly Guo <[email protected]>

Removed unnecessary dependencies to resolve pip errors. Signed-off-by: Kelly Guo <[email protected]>

Signed-off-by: Kelly Guo <[email protected]>

Updates torch to 2.9.0+cu13

035abcc

kellyguo11 requested review from Mayankm96, hhansen-bdai and jtigue-bdai as code owners November 11, 2025 05:41

kellyguo11 marked this pull request as draft November 11, 2025 05:41

github-actions bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team infrastructure labels Nov 11, 2025

greptile-apps bot reviewed Nov 11, 2025

View reviewed changes

kellyguo11 added 7 commits November 10, 2025 21:52

format

91281c8

updates

aff982f

try base docker

ab507fb

update

dc9e6be

revert torch

14d8fed

revert docker

25de43a

clean up doc

1ddbce0

ooctipus reviewed Nov 13, 2025

View reviewed changes

kellyguo11 and others added 2 commits November 12, 2025 16:50

update torch to 2.9.0

a198e8f

Set ISAACSIM_ACCEPT_EULA environment variable

66a35e7

Signed-off-by: Kelly Guo <[email protected]>

kellyguo11 changed the title ~~[6.0] Updates torch to 2.9.0+cu13~~ [Isaac Sim 6.0] Updates torch to 2.9.0+cu13 Nov 13, 2025

kellyguo11 and others added 8 commits November 12, 2025 19:00

Simplify ISAAC Sim installation step

ccec4a9

Removed redundant environment variable export for ISAACSIM_ACCEPT_EULA. Signed-off-by: Kelly Guo <[email protected]>

Add tqdm and decorator dependencies

bf81a38

Added dependencies to resolve pip errors. Signed-off-by: Kelly Guo <[email protected]>

Update default Dockerfile path in action.yml

f8ed9d8

Signed-off-by: Kelly Guo <[email protected]>

Clean up dependencies in setup.py

bfb2085

Removed unnecessary dependencies to resolve pip errors. Signed-off-by: Kelly Guo <[email protected]>

Update EULA acceptance variables in license-check.yaml

0bd1f46

Signed-off-by: Kelly Guo <[email protected]>

update license check

4148d23

fix stage in memory

cb96e3b

Change default Dockerfile path in action.yml

ff67699

Signed-off-by: Kelly Guo <[email protected]>

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[Isaac Sim 6.0] Updates torch to 2.9.0+cu13 #4001

[Isaac Sim 6.0] Updates torch to 2.9.0+cu13 #4001

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	pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30
	pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

	pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30
	pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

[Isaac Sim 6.0] Updates torch to 2.9.0+cu13 #4001

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[Isaac Sim 6.0] Updates torch to 2.9.0+cu13 #4001

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greptile-apps bot commented Nov 11, 2025

Greptile Overview

Greptile Summary

Confidence Score: 0/5

Important Files Changed

Sequence Diagram

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